Patent Application
20240343364
The present disclosure relates to a system and to a method for handling operations in a body of water. In particular, the operations are carried out by an unmanned underwater vehicle that can be carried by an unmanned floating vehicle.
In the offshore operations sector, it is known to realize and handle underwater facilities for the exploitation of hydrocarbon deposits and/or for the performance of further activities in the body of water, such as the installation of a wind turbine park or the surveillance of underwater structures or the breeding of fish fauna.
The underwater facilities may take different configurations on a bed of a body of water depending on the use for which they are intended and may be placed in relatively shallow water or in relatively very deep water or at varying distances from land.
While underwater facilities provide numerous advantages, however the construction, the maintenance and the control of an underwater facility presents increasing criticalities as the depth at which the underwater facility is installed and/or the environmental context in which underwater facility operates increases.
Currently, each underwater facility requires many different types of operations, most of which are carried out by unmanned underwater vehicles of the ROV (“Remoted Operated Vehicle”) or AUV (“Autonomous Unmanned Vehicle”) type, each of which is controlled by a control station.
A first type of underwater operations comprises the installation of underwater infrastructures such as extraction wells, platforms and pipings. The operations are typically assisted by unmanned underwater vehicles, which perform activities, for example through tools, manipulators and power modules, and collect data, for example through sensors and cameras. Further operations that can be carried out at a later stage after the installation step comprise interventions of repair, monitoring and maintenance of the facility.
A second type of underwater operations is related to handling the underwater facility and aimed at maintaining the production by monitoring the status of the underwater facility to allow the updating of the prediction models developed during the design of the underwater facility.
A third type of operations is related to unforeseeable events or accidents, such as rupture of a pipe, gas leak, leakage of acids from a well or a fire, for which it is essential to be able to intervene relatively close to the event to remedy this event.
Traditionally, the underwater operations are carried out using multi-purpose floating manned vehicles with technical personnel on board. The floating vehicles carry at least one unmanned underwater vehicle and comprise a hull provided with a pool for releasing into water the underwater vehicle and/or underwater equipment and launch and recovery systems for the underwater vehicle itself.
However, under determined circumstances, keeping the crew on board the floating vehicle entails significant disadvantages both in economic terms, due to the fact that some routine operations lend themselves to being automated, and in terms of the relative safety of the people on board the floating vehicle, due to the fact that some operations are carried out in relatively hazardous environments.
Consequently, the use of remotely controlled unmanned systems, which allow the above operations to be performed autonomously, has become widespread in recent decades.
The unmanned systems generally comprise an unmanned floating vehicle, which is configured to carry an unmanned underwater vehicle and to handle the operations of the underwater vehicle.
These unmanned floating vehicles lack the facilities necessary for the daily needs of people such as living quarters, kitchens, storerooms and, consequently, are relatively small in size and weight.
However, the unmanned systems of certain of the prior art are not capable of handling the floating vehicle and the underwater vehicle in a coordinated manner which ensure the efficiency of the underwater operations and the relatively safety of the underwater vehicle under all operating conditions.
Moreover, in the unmanned systems of certain of the prior art, the risk of losing the underwater vehicle in the event of failure or the occurrence of adverse weather conditions is relatively high.
The present disclosure is directed to a system for handling operations in a body of water that overcomes certain of the drawbacks of certain of the prior art.
In particular, certain embodiments of the present disclosure are directed to a system for handling operations in a body of water capable of controlling in a coordinated manner the floating vehicle and the underwater vehicle that offers the efficiency of the underwater operations and the relative safety of the underwater vehicle under all operating conditions.
In accordance with the present disclosure, a system for handling operations in a body of water is realized, the system comprising: an unmanned floating vehicle configured to navigate on the body of water and to perform first activities from a surface of the body of water; at least one intervention/inspection device, configured to perform second activities in/on the body of water; a first control module, configured to acquire first data related to the execution of the first activities, to simulate the execution of the first activities according to the first acquired data and to control the execution of the first activities according to the first acquired data; a second control module, configured to acquire second data related to the execution of the second activities, to simulate the execution of the second activities according to the second acquired data and to control the execution of the second activities according to the second acquired data; and a mission control unit in communication with the first and the second control modules and configured to assign respective first activities to the first control module and respective second activities to the second control module according to a mission prediction model and to control in a coordinated manner the execution of the first assigned activities and the second assigned activities according to the simulation of the first and the second activities.
In accordance with the present disclosure, it is possible to control the floating vehicle and the intervention/inspection device in a coordinated manner to offer maximum efficiency of the operations in the body of water, while also minimizing the risk of damaging or losing the floating vehicle and the intervention/inspection device.
In particular, the first control module is configured to determine a first risk associated with the execution of the first assigned activities based on the simulation of the first assigned activities; and wherein the second control module is configured to determine a second risk associated with the execution of the second assigned activities based on the simulation of the second assigned activities; the mission control unit being configured to determine a combined risk based on the first risk and the second risk. In this way, it is possible to assess the risk associated with each activity to control the status of the mission while attempting to ensure an adequate level of relative safety.
In particular, the first control module is configured to determine a first opportunity associated with the execution of the first assigned activities based on the simulation of the first assigned activities; and wherein the second control module is configured to determine a second opportunity associated with the execution of the second assigned activities based on the simulation of the second assigned activities. In this way, the mission control unit is able to assess the opportunities associated with each activity to control the status of the mission while attempting to ensure its maximum efficiency.
In practice, the mission control unit is able to handle the mission taking into account the risks and opportunities associated with each activity. In other words, the mission control unit can control the various steps of a mission by finding an appropriate compromise between the need to complete each mission as efficiently as possible and the need to ensure the relative safety of the intervention/inspection device and of the floating vehicle.
In particular, the intervention/inspection device is an unmanned underwater vehicle configured to navigate in the body of water. In this way, underwater activities can be carried out remotely.
In particular, the first and second control modules are configured to continuously acquire respectively the first data and the second data through respectively a first and a second assembly of sensors, so as to handle each mission in real time and adapt the operations to the changed environmental conditions. In this way, by way of example, it is possible to carry out the recovery of equipment following occurred adverse weather conditions.
In particular, the first and the second assemblies of sensors respectively comprise a first and a second position sensor for detecting the position and/or the speed of the floating vehicle and the underwater vehicle respectively; the mission control unit being configured to issue commands to the first and the second control modules according to the position and/or the speed detected by the first and the second position sensors so as to control in a coordinated manner the navigation of the floating vehicle and the underwater vehicle.
The coordinated handling of the navigation of the floating vehicle and of the underwater vehicle enables the operational limits of the underwater vehicle to be extended and enables a relatively rapid recovery of the underwater vehicle when adverse weather conditions occur.
In particular, the floating vehicle comprises an automatic launch and recovery device of the underwater vehicle; the mission control unit being configured to control the launch and recovery operations of the launch and recovery device according to the mission prediction model and to the first and second data acquired by the first and by the second control modules, respectively. In this way, the recovery of the underwater vehicle can be performed automatically while offering a relatively high degree of safety for the underwater vehicle.
In particular, the system comprises an underwater station, which is carried by the floating vehicle, is connected to the floating vehicle by an umbilical cable and is configured to house the underwater vehicle during downtimes of the underwater vehicle. In this way, during downtimes of the underwater vehicle it is possible to temporarily house the underwater vehicle in the underwater station avoiding having to recover the underwater vehicle on board the floating vehicle, protecting the underwater vehicle from possible adverse weather conditions.
In addition, if the underwater vehicle is of the AUV type, the underwater station has the function of recharging the underwater vehicle.
In particular, the system comprises a remote control station in communication with the mission control unit and configured to monitor the status of each mission.
In particular, the floating vehicle comprises at least a hull; and a launching pool, which is configured to launch the underwater vehicle and/or underwater equipment. In other words, the floating vehicle is of the catamaran type. In this way, the stability of the floating vehicle can be increased and the underwater vehicle and/or floating equipment can be launched and recovered relatively quickly and easily through the launching pool.
In accordance with a further embodiment, the intervention/inspection device is an unmanned air vehicle configured to fly over the body of water. In this way, air inspection activities of surface offshore facilities can be carried out.
In particular, the system comprises a plurality of interchangeable intervention/inspection devices having different characteristics; each intervention/inspection device being operatively couplable to the floating vehicle.
In practice, the system is of the modular type and, in use, different intervention/inspection devices are selectively coupled to the floating vehicle depending on the particular type of operations to be performed in/on the body of water.
Certain embodiments of the present disclosure are directed to a method for handling operations in a body of water that can overcome certain of the drawbacks of certain of the prior art.
In accordance with the present disclosure, a method for handling operations in a body of water is realized; the method comprises: providing an unmanned floating vehicle configured to navigate on the body of water and to perform first activities from a surface of the body of water; providing at least one intervention/inspection device configured to perform second activities in/on the body of water; acquiring first data related to the execution of the first activities by a first control module; simulating the execution of the first activities according to the first acquired data; controlling, by the first control module, the execution of the first activities according to the first data acquired; acquiring second data related to the execution of the second activities by a second control module; simulating the execution of the second activities according to the second data acquired; controlling, by the second control module, the execution of the second activities according to the second data acquired; assigning respective first activities to the first control module and respective second activities to the second control module according to a mission prediction model; and controlling in a coordinated manner the execution of the first and the second activities assigned according to the simulation of the first and the second activities. In accordance with this method, it is possible to coordinate the activities of the floating vehicle and of the intervention/inspection device, offering relative maximum efficiency of the operations in the body of water while minimizing the risks associated with the operations.
Further features and advantages of the present disclosure will become clear from the following description of an illustrated embodiment, with reference to the figures of the accompanying drawings, in which:
Number 1 in
In the case described and shown herein, which is not limiting to the present disclosure, the underwater facility 2 is arranged on a bed 4 of the body of water 3 and is used for the extraction and/or production of hydrocarbons from wells (not shown in the drawings), which are realized in the bed 4 of the body of water 3 and are integral parts of the underwater facility 2 itself.
In the following description, “hydrocarbon production” means the extraction of hydrocarbons, the processing of hydrocarbons, the processing of fluids related to hydrocarbon production, and subsequent transportation.
In accordance with further embodiments (not shown in the drawings), the underwater facility 2 may comprise infrastructures for the exploitation of energy from renewable sources, such as infrastructures necessary for the installation and handling of a wind turbine park installed on the bed 4 of the body of water 3.
With reference to
In the case described and shown herein, which is not limiting to the present disclosure, the intervention/inspection device 7 is an unmanned underwater vehicle 7 configured to navigate in the body of water 3.
In addition, the system 1 comprises a remote control station 10, such as arranged on the mainland, which is in communication with the mission control unit 9 and is configured to monitor the status of each mission. In other words, the entire supervision of the system 1 is performed by the remote control station 10, which is provided with monitors (not shown in the drawings).
In addition, under determined operational circumstances, the remote control station 10 is configured to remotely control the activities of the system 1.
By way of example, in the event that the mission control unit 9 detects through the first and second acquired data potential dangerous circumstances that could jeopardize the integrity of the system 1, the mission control unit 9 reports these circumstances to the remote control station 10, which establishes whether to continue the execution of the current mission or to abort the current mission and issues the related commands to the mission control unit 9.
In accordance with an embodiment (not shown in the drawings), the remote control station 10 is arranged on board a further floating vehicle.
The first and the second data comprises data and signals related to the navigation of the floating vehicle 5 or of the underwater vehicle 7, such as the position and/or the speed of the floating vehicle 5 and of the underwater vehicle 7 and/or the power required by the floating vehicle 5 and by the underwater vehicle 7; data related to the weather and/or environmental conditions, such as the wind strength and/or the intensity of underwater currents; data related to the status of the floating vehicle 5 and/or of the intervention/inspection vehicle 7; and data related to the intervention or inspection activities of the intervention/inspection vehicle 7.
The mission prediction model comprises for each mission a list of activities that the floating vehicle 5 and the underwater vehicle 7 have to carry out and a sequence of the activities. In particular, the mission prediction model may be stored in the mission control unit 9 and is configured to estimate the probability of completing a determined activity and/or to assess the status of the floating vehicle 5 and of the intervention/inspection device 7.
The operational parameters are associated with each activity to be carried out, which are provided to the control module 6 and to the control module 8 and are used by them to control the floating vehicle 5 and the underwater vehicle 7 according to the activity to be carried out. For example, one activity may involve the monitoring carried out by the underwater vehicle 7 of a pipeline of the underwater facility 2 to prevent any leakages of the fluid flowing within the pipeline. The monitoring activity is associated with parameters such as the position of the underwater vehicle 7 and the position of the floating vehicle 5. The control module 6 and the control module 8 use the parameters to control the relative position of the underwater vehicle 7 with respect to the floating vehicle 5 to prevent the underwater vehicle 7 from moving relatively too far away from the floating vehicle 5 during the monitoring activity.
In accordance with an embodiment, which is not limiting to the present disclosure, the mission control unit 9 is arranged on the floating vehicle 5. Alternatively, the mission control unit 9 can be placed in the remote control station 10.
In the case described and shown herein, the system 1 comprises an underwater station 11, which is carried by the floating vehicle 5, is connected to the floating vehicle 5 by an umbilical cable 12 and is configured to house the underwater vehicle 7 during downtimes of the underwater vehicle 7. In use, the underwater station 11 exchanges signals with the floating vehicle 5 and with the mission control unit 9 and is powered by the floating vehicle 5 by the umbilical cable 12.
The floating vehicle 5 comprises an automatic launch and recovery device 13, which is controlled by the mission control unit 9 and is configured to launch and recover the underwater vehicle 7, the underwater station 11 and additional equipment configured to handle the underwater facility 2. In particular, the mission control unit 9 is configured to control the launch and recovery device 13 according to the mission prediction model and the data acquired by the control module 6 and the control module 8.
Furthermore, the system 1 comprises an assembly of sensors 14 and an assembly of sensors 15, each of which is configured to acquire the first and the second data, respectively and to transmit the first and the second acquired data to the control module 6 and to the control module 8, respectively. In particular, each assembly of sensors 14, 15 is configured to acquire data relating to the navigation of the respective floating vehicle 5 and of the underwater vehicle 7 respectively, and comprises for example a gyrocompass; a speed sensor; accelerometers; acoustic positioning systems; and an acoustic or electromagnetic type system to avoid obstacles.
Furthermore, the assembly of sensors 14 and the assembly of sensors 15 comprise a position sensor 16 and a position sensor 17, respectively, each of which is configured to detect the position and/or the speed of the floating vehicle 5 and of the underwater vehicle 7, respectively.
In accordance with an embodiment, the mission control unit 9 is configured to issue commands to the control module 6 and the control module 8 according to the position and/or speed detected by the position sensors 16 and 17 so as to control in a coordinated manner the navigation of the floating vehicle 5 and the underwater vehicle 7. By way of example, the coordinated navigation makes it possible to prevent the underwater vehicle 7 from moving relatively too far away from the floating vehicle 5 when carrying out a determined mission.
With reference to
With reference to
With reference to
In practice, the system comprises a plurality of interchangeable intervention/inspection devices 7 having different characteristics. Each intervention/inspection device 7 is operatively couplable to the floating vehicle 5.
In particular, each intervention/inspection device 7 is configured to achieve a structural and functional coupling with the floating vehicle 5.
Furthermore, in accordance with an embodiment (not shown in the drawings), the intervention/inspection device 7 may be a seismic wave detection apparatus or a water sampling apparatus or a body of water bed coring apparatus 3 or an apparatus configured to limit hydrocarbon spills from underwater wells or an apparatus configured to extinguish fires.
Referring to
It is understood that the floating vehicle 5 may assume any conformation that enables the floating vehicle 5 to navigate on the body of water 3 and to carry out the first activities from the surface of the body of water 3. In particular, in accordance with an embodiment (not shown in the drawings), the floating vehicle 5 is of the monohull type.
With reference to
In this case, the system comprises a plurality of control modules 8, each of which is associated with a respective intervention/inspection device 7.
In particular, when the control module 8 is arranged on board the underwater vehicle 7, the mission control unit 9 is in communication and exchanges data and signals with the control module 8 through the underwater station 11.
The assembly of sensors 14 is in communication with the control module 6 and the assembly of sensors 15 is in communication with the control module 8.
In addition, the mission control unit 9 is in communication with the remote control station 10 via a radio frequency and/or satellite connection.
With reference to
The mission control unit 9 is configured to assume the role of centralized supervisor of a determined mission and to determine a combined risk (Block 27) based on the first risk, on the second risk and on the simulation of the first and on the second activities assigned in combination.
In addition, each control module 6, 8 is configured to determine a first and second opportunity (block 28) respectively associated with the execution of the first and the second assigned activities based on the simulation of the first and the second assigned activities.
Each control module 6, 8 is configured to cyclically detect the presence or absence of risks and opportunities during the performance of a mission and to associate a respective class of risk 29 and a respective level of risk 30 to each risk and a respective opportunity class 31 and a respective opportunity level 32 to each opportunity.
In particular, the control modules 6 and 8 are configured to continuously detect the presence of risks and/or opportunities through the assembly of sensors 14 and the assembly of sensors 15, respectively.
A risk is the possibility of the occurrence of any harmful event that could affect the safety and/or the integrity of the components of system 1 in the performance of a determined mission. By way of example, the risks that the system I could encounter during a mission comprise the loss of the underwater vehicle 7 (in particular in the presence of adverse weather conditions), the collision of the floating vehicle 5 with obstacles, the exhaustion of the energy accumulators, the loss of the connection between the underwater vehicle 7 and the underwater station 11.
The presence or the absence of the risks associated with the activities of a mission is determined based on the data and signals detected by the assemblies of sensors 14, 15 and the mission prediction model, as described in detail below. Each detected risk is associated with a class of risk chosen from a first class of risk and a second class of risk, when the risk is detected and is identified as either independently manageable by the system 1 or not manageable independently, respectively, so that the intervention of remote personnel in the remote control station 10 is required.
Each detected risk is also associated with a respective level of risk, which is determined based on values of the data and signals detectable through the assemblies of sensors 14, 15, on respective safety ranges of the data and signals and on correlations between the detected data and signal values.
In this description, the term “opportunities” refers to the operational benefits that can be achieved in the course of a mission by carrying out determined activities or groups of activities.
By way of example, the opportunities determined by the modules 6 and 8 comprise the probability of completing a determined activity within a determined time interval, such as inspecting a component of the underwater facility 2 before adverse weather conditions occur, and/or the possibility of achieving energy savings by coordinating the activities of the floating vehicle 5 and of the underwater vehicle 7.
In more detail, each control module 6, 8 is configured to determine a plurality of first parameters indicative of the class of risk 29, which is associated with a determined type of risk, and a plurality of second parameters indicative of the level of risk 30, which is associated with the degree of risk determined. Further, each control module 6, 8 is configured to receive data and signals from the mission control unit 9 and from the respective assembly of sensors 14, 15 and to process the received data and signals so as to determine a plurality of third parameters indicative of the opportunity class 31, which is associated with a determined type of opportunity, and a plurality of fourth parameters indicative of the opportunity level 32, which is associated with the determined degree of opportunity. In this case, the system comprises a plurality of control modules 8, each of which is associated with a respective intervention/inspection device 7.
With reference to
In use, the remote control station 10 plans each mission (block 26) and sends the data and signals related to the planned mission to the mission control unit 9, which proceeds with the mission simulation and the assignment of the activities (block 33) to each control module 6, 8 for the performance of determined operations in the body of water 3 based on the mission prediction model.
In particular, the mission simulation (block 33) is carried out using a global system model (block 34), which is implemented in the mission control unit 9, and according to a global validation of the mission (block 35).
Each control module 6, 8 simulates the respective assigned activities (block 24) using a model of the system (block 37) and according to the first or the second acquired data and to a local validation of the activities assigned (block 38) by the mission control unit 9.
While carrying out the assigned activities, each control module 6, 8 monitors the execution of the activities (block 39) and assesses the risks (block 25) and the opportunities (block 28) associated with each activity. In particular, the risk assessment step (block 25) carried out by each control module 6, 8 outputs first and second estimated parameters, which are indicative respectively of a respective class and a respective level of risk (blocks 29 and 30), and the opportunity assessment step (block 28) outputs third and fourth estimated parameters, which are indicative of a respective class of opportunity and a respective level of opportunity (blocks 31 and 32).
Based on the class and on the level of risk detected, each control module 6, 8 assesses whether the risk exceeds a determined risk threshold (block 40). In detail, each control module 6, 8 compares the first and second estimated parameters with respective threshold values and determines whether the parameters are higher than the respective threshold values.
If so, each control module 6, 8 reports to the mission control unit 9 that the level of risk exceeds a threshold level. In such a circumstance, the mission control unit 9 proceeds to re-plan the activities assigned to the mission so as to reduce the level of risk.
If not, each control module 6, 8 proceeds independently and implements the necessary measures to minimize the detected risk (block 41). In detail, each control module 6, 8 modifies the operational parameters associated with each mission so as to modify the first and the second estimated parameters, indicative of the class and of the level of risk, respectively.
In parallel, each control module 6, 8, based on the class and level of opportunity detected, identifies possible variations (block 42) to the previously planned activities.
By way of example, if during an inspection activity the intervention/inspection device 7 identifies a fluid leak from a pipe of the underwater facility 2, the control module 8 detects the opportunity to interrupt the inspection activity to start a pipe repair activity that involves, for example, the closure of a determined valve of the underwater facility 2. Once the pipe repair activity has been completed, the mission control unit 9 commands the control module 8 to resume the inspection activity.
Based on the measures implemented in step 41 and the possible variations identified (block 42), each control module 6, 8 detects the local impact (block 43) of the planned activities, assessing in particular whether the risk associated with the simulated activities exceeds a determined risk threshold.
After step 43, each control module 6, 8 again simulates the planned activities (block 24) and sends data and signals relating to the local impact of the planned activities to the mission control unit 9.
In the course of carrying out the assigned activities, the assemblies of sensors 14 and 15 (
Once the detected parameters are received, each control module 6, 8 estimates the status of the respective system (block 45). The results of the estimation of step 45 are used as input signals both for the simulation of the planned activities (block 24) and for the monitoring of the execution of the activities (block 39) to update the assessment of the risks and of the opportunities in real time.
Downstream of the activity simulation step (block 24), each control module 6, 8 outputs high-level instructions, which are converted (block 46) into low-level instructions.
The signals in output from the assemblies of sensors 15 and 16 and the low-level instructions are provided to a respective operating controller (block 47), which controls the actuators (block 48) of the floating vehicle 5 and of the intervention/inspection device 7, respectively.
Similarly to each controller 6, 8, the mission control unit 9 monitors the execution of the activities (block 49) during the performance of the mission.
In detail, the mission control unit 9 evaluates the impact of any interference (block 50) among the activities assigned to each control module 6, 8 and evaluates the overall risk associated with the interferences (block 27), providing an overall risk parameter as output.
The mission control unit 9 compares the overall parameter with a respective overall threshold value (block 52) and determines whether the overall parameter is higher than the overall threshold value.
In the event that the mission control unit 9 detects possible risks of interference between the activities simulated by each control module 6, 8, the mission control unit 9 sends a signal indicative of the risk of interference to the remote control station 10, which proceeds to re-plan the activities to be assigned to each control module 6, 8 (block 26).
In the event that the mission control unit 9 does not detect possible risks of interference among the activities simulated by each control module 6, 8, the mission control unit 9 implements the necessary measures to minimize the risk detected (block 53).
In parallel, the mission control unit 9 assesses the opportunities (block 54) associated with the performance of the activities assigned to each control module 6, 8 and identifies possible variations (block 55) to the previously planned activities.
Based on the measures implemented in step 53 and on the possible variations identified (block 55), the mission control unit 9 detects the global impact (block 56) of the planned activities, assessing in particular whether the risk associated with the simulated activities exceeds a determined risk threshold.
In the event that the global impact detected in step 56 poses excessive risks, the mission control unit 9 sends a signal to the remote control station 10 with the request to re-plan the mission.
By way of example, in accordance with the method described and shown herein, during the performance of operations in the body of water 3, upon the occurrence of adverse weather conditions, the system 1 evaluates whether to command the recovery of the underwater vehicle 7 on board the floating vehicle 5 or whether to continue with the regular performance of the mission. In this circumstance, the option of continuing the regular operation of the mission is an opportunity, which is opposed to the risk posed by adverse weather conditions.
In more detail, when adverse weather conditions occur, the assemblies of sensors 14 and 15 detect the change in the weather conditions and send data and signals respectively to the control module 6 and to the control module 8, which simulate the activities assigned based on the data received to determine the plurality of first and second estimated parameters, which are indicative respectively of the class 29 and of the level 30 of risk, and the plurality of third and fourth estimated parameters, which are indicative respectively of the class 31 and of the level 32 of opportunity.
At this point, each module 6, 8 compares the estimated parameters with the respective threshold values. In the event that the first and/or the second parameters estimated by one of the modules 6, 8 exceed the threshold value, the module 6, 8 sends a risk signal to the mission control unit 9, which commands the interruption of the mission and the recovery of the underwater vehicle 7 on board the floating vehicle 5.
In the example described, the system 1 is associated with an underwater facility 2 for the production of hydrocarbons, it being understood that the underwater vehicle 7 and the system of the present disclosure can find other applications in the offshore environment. In addition, the system 1 may comprise more than one underwater vehicle 7 and/or more underwater stations 11.
Finally, it is evident that variations can be made to the present disclosure with respect to the embodiments described with reference to the accompanying figures without however departing from the scope of protection of the following claims. That is, the present disclosure also covers embodiments that are not described in the detailed description above as well as equivalent embodiments that are part of the scope of protection set forth in the claims. Accordingly, various changes and modifications to the presently disclosed embodiments will be apparent to those skilled in the art.
| Number | Date | Country | Kind |
|---|---|---|---|
| 102021000019691 | Jul 2021 | IT | national |
This application is a national stage application of PCT/IB2022/056737, filed on Jul. 21, 2022, which claims the benefit of and priority to Italian Patent Application No. 102021000019691, filed on Jul. 23, 2021, the entire contents of which are each incorporated by reference herein.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IB2022/056737 | 7/21/2022 | WO |
